Noetic：
1：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
2：
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3：
sudo apt update
4：安装
sudo apt install ros-noetic-desktop-full
5：配置
source /opt/ros/noetic/setup.bash
Bash:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Zsh:
echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
ros-noetic-desktop-full (1.5.0-1focal.20200724.201236) sudo apt install ros-noetic- Display all 1048 possibilities? (y or n)
Foxy:
1:
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
2:
sudo apt update && sudo apt install curl gnupg2 lsb-release
3:
sudo gedit /etc/apt/sources.list.d/ros2-latest.list
deb [arch=amd64,arm64] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ focal main
4:
sudo apt update
5: 安装
sudo apt install ros-foxy-desktop
6: 配置
source /opt/ros/foxy/setup.bashros-foxy-desktop (0.9.2-1focal.20200807.222642) sudo apt install ros-foxy- Display all 815 possibilities? (y or n) 7:
sudo apt install python3-argcomplete
配置：Noetic和Foxy切换（Bash）
# ROS 1.0 noetic or ROS 2.0 foxy
echo Hello, ROS 1.0 or ROS 2.0? 1=noetic 2=foxy
read ROS
if (($ROS==1));then
source /opt/ros/noetic/setup.bash
#export ROS_PACKAGE_PATH=/home/ros/RobTool/ROS1/Wiki/src:/home/relaybot/RobTool/Cozmo/ros/src:$ROS_PACKAGE_PATH
#source /home/ros/RobTool/ROS1/Wiki/devel/setup.bash
#export ROS_MASTER_URI=http://192.168.1.100:11311
#export ROS_IP=192.168.1.100
echo "noetic"
elif (($ROS==2));then
source /opt/ros/foxy/setup.bash
echo "foxy"
else
echo "Non-ROS"
fi
rosdep:
案例： 使用新立得软件工具安装deb包。 
点击应用： 
实物如上：
roslaunch mir_gazebo mir_maze_world.launch
仿真如下： 
环境图如下： 
可以测试各类算法。 foxy-turtlebot3:
ign-gazebo-demos(ros1+ros2):
$ roslaunch ros_ign_gazebo_demos air_pressure.launch gpu_lidar.launch battery.launch image_bridge.launch camera.launch imu.launch create.launch magnetometer.launch depth_camera.launch rgbd_camera_bridge.launch diff_drive.launch rgbd_camera.launch gpu_lidar_bridge.launch $ ros2 launch ros_ign_gazebo_demos -a imu.launch.py air_pressure.launch.py magnetometer.launch.py battery.launch.py -p camera.launch.py –print -d –print-description –debug rgbd_camera_bridge.launch.py depth_camera.launch.py rgbd_camera.launch.py diff_drive.launch.py -s gpu_lidar_bridge.launch.py –show-all-subprocesses-output gpu_lidar.launch.py –show-args image_bridge.launch.py –show-arguments
Noetic：
- roslaunch ros_ign_gazebo_demos battery.launch
- rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist “{linear: {x: 5.0}, angular: {z: 0.5}}”
Foxy：
- ros2 launch ros_ign_gazebo_demos battery.launch.py
- ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist “{linear: {x: 5.0}, angular: {z: 0.5}}”
电池耗尽机器人将停止运动！！！
ROS+ign_gazebo
演示如何将ign_gazebo与ROS一起使用的演示。
启动ign_gazebo
启动文件，例如：
ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf"
ros1使用roslaunch
空气压力
sensor_msgs/msg/FluidPressure。 发布流体压力读数。
ros2 launch ros_ign_gazebo_demos air_pressure.launch.py
相机
发布RGB相机图像和信息。 图像可以通过ros_ign_bridge或ROS ros_ign_image发布。 使用图像桥接（单向，使用image_transport）：
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py
使用常规桥接：
ros2 launch ros_ign_gazebo_demos camera.launch.py
差速机器人
向差速驱动车辆发送命令并听其里程表。
ros2 launch ros_ign_gazebo_demos diff_drive.launch.py
然后取消暂停并发送命令
ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
深度相机
深度相机数据可通过以下方式获得：
sensor_msgs/msg/Image，通过ros_ign_bridge或ros_ign_imagesensor_msgs/msg/PointCloud2，通过ros_ign_point_cloud
使用图像桥接（单向，使用image_transport）：
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py
使用ign_gazebo件：
ros2 launch ros_ign_gazebo_demos depth_camera.launch.py
GPU激光雷达
GPU激光雷达数据可通过以下方式获得：
sensor_msgs/msg/LaserScan，通过ros_ign_bridgesensor_msgs/msg/PointCloud2，通过ros_ign_bridge或ros_ign_point_cloud
使用桥接：
ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py
使用ign_gazebo插件：
ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py
内部惯性导航单元
发布IMU读数。
ros2 launch ros_ign_gazebo_demos imu.launch.py
磁力计
发布磁场读数。
ros2 launch ros_ign_gazebo_demos magnetometer.launch.py
RGBD相机
RGBD摄像机数据可通过以下方式获得：
sensor_msgs/msg/Image，通过ros_ign_bridge或ros_ign_imagesensor_msgs/msg/PointCloud2，通过ros_ign_bridge或ros_ign_point_cloud
使用图像桥接（单向，使用image_transport）：
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py
使用常规桥接：
ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py
使用ign_gazebo插件：
ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py
电池
获取电池的当前状态。
ros2 launch ros_ign_gazebo_demos battery.launch.py
然后发送命令，使车辆行驶并消耗电池电量
ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
